CN103576280A - System and method for determining and controlling focal distance in vision system camera - Google Patents
System and method for determining and controlling focal distance in vision system camera Download PDFInfo
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- CN103576280A CN103576280A CN201310327177.8A CN201310327177A CN103576280A CN 103576280 A CN103576280 A CN 103576280A CN 201310327177 A CN201310327177 A CN 201310327177A CN 103576280 A CN103576280 A CN 103576280A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0228—Testing optical properties by measuring refractive power
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B3/00—Focusing arrangements of general interest for cameras, projectors or printers
- G03B3/10—Power-operated focusing
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B43/00—Testing correct operation of photographic apparatus or parts thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B3/00—Simple or compound lenses
- G02B3/12—Fluid-filled or evacuated lenses
- G02B3/14—Fluid-filled or evacuated lenses of variable focal length
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
This invention provides a system and method for determining and controlling focal distance in a lens assembly of a vision system camera using an integral calibration assembly that provides the camera's image sensor with optical information that is relative to focal distance while enabling runtime images of a scene to be acquired along the image axis. The lens assembly includes a variable lens located along an optical axis that provides a variable focus setting. The calibration assembly generates a projected pattern of light that variably projects upon the camera sensor based upon the focus setting of the variable lens. That is, the appearance and/or position of the pattern varies based upon the focus setting of the variable lens. This enables a focus process to determine the current focal length of the lens assembly based upon predetermined calibration information stored in association with a vision system processor running the focus process.
Description
Technical field
The present invention relates to the autofocus system of camera lens, and more particularly relate to adopt the autofocus lens system in the vision system video camera of liquid lens assembly.
Background technology
The vision system of carrying out measurement, inspection, object alignment and/or symbol (for example bar code) decoding is widely used in various applications and industry.These systems are the uses based on image sensor, the image of described image sensor acquisition target or object (is generally gray-scale map or coloured picture, and be one dimension, two dimension or three-dimensional), and utilize the vision system processor of a loading or connection to process the image gathering.Described processor generally includes processing hardware and processes to produce the non-volatile computer-readable programmed instruction of required output according to the one or more vision systems of the processed information and executing of image.This image information is provided in a series of image pixel conventionally, and each pixel all has different colors and/or brightness.In symbol (bar code) reader example, user or auto-programming gather it and think the image of the object that comprises one or more bar codes.Image is processed with identification characteristics of bar code, then by a decoding program and/or processor decodes, obtains by the represented inherent alphanumeric data of coding.
In general, vision system video camera comprises that an internal processor and other allow it as the assembly of a separate unit, and described processor or assembly provide required output data (for example decoded symbolic information) for example, to downstream program (inventory tracking computer system).Preferably camera modules comprises a lens carrier, as the C type microscope base of the conventional multiple lens arrangement of receivability, to make it applicable to specific vision system task.The selection of lens arrangement may be subject to the impact of various different factors, and for example, by the relative angle of illumination, visual field, focal length, photography axle and imaging surface, and on imaging surface, the factors such as fineness of details affect.In addition the cost of camera lens and/or also can affect the selection of lens for the free space of vision system is installed.
In some vision system application, a required typical lens arrangement is the assembly of automatically focusing.For example, so-called liquid lens assembly can be configured to automatically to focus lens.A kind of liquid lens has been used the liquid of two kinds of density of blackening---oil for insulator water be conductor.By circuit around, through the change of the voltage of lens, cause the change of the curvature of liquid-liquid interface, this causes again the change of the focal length of lens conversely.The intensity (it does not have mechanical movable part) that some significant advantages in using liquid lens are lens, its fast response time, its relatively good optical property, and low-power consumption and small size.Installation, setting and the maintenance of vision system can be desirably simplified by eliminating the needs of manual palpation lens in the use of liquid lens.With respect to other autofocus mechanism, the response time of liquid lens is very quick.For thering is distance of reading (surface to surface) from object to object, change or be ideal equally the application of the transition period that reads another object from an object.
The Optotune AG of the latest development Ke Cong Switzerland in liquid lens technology obtains.The diaphragm that this lens utilization movably covers liquid reservoir changes its focal length.These lens are compared and are advantageously provided a larger aperture with similar design, and travelling speed is faster.But due to thermal drift and other factors, As time goes on liquid lens may lose calibration and focus on.
Lose a kind of method after calibration/focusing, lens being focused on again and be the object that incrementally drives lens to various focal position and measure object while for example moving or the sharpness of calibration target.But operation when this needs time and efforts from operation is eliminated, and possibility unreliable (depending in part on the quality of illumination and the contrast of imaging scene).
Therefore, preferably provide a kind of system and method for the focusing for stable liquid (or other automatic focuses) lens type, its can be promptly and the random time point in video camera operating period adopt.This system and method should allow the lens assembly that is arranged on conventional radiography machine base to install, and should avoid obvious performance loss when carrying out vision system task.Described system and method should allow in a relatively wide scope that reads distance (for example 20 centimetres to 2 meters) to focus on.
Summary of the invention
The present invention is by providing a kind of system and method that utilizes integral type calibration assemblies to determine and control the focal length in the lens assembly of vision system video camera to overcome the shortcoming of prior art, described integral type calibration assemblies provides the optical information relevant with focal length to the imaging sensor of video camera, the image while simultaneously allowing to gather the operation of a scene along image axle.In an illustrative embodiment, for determining that the system and method for the focal length of lens assembly comprises the adjustable lens being positioned at along the optical axis of lens assembly, it provides an adjustable focal length setting.This adjustable lens can be connected with fixed imaging lens, and described fixed imaging lens are positioned between adjustable lens and video camera sensor along optical axis.Be provided with the novel calibration assemblies with lens assembly one.Calibration assemblies produces the projection pattern of light, and the focusing of described pattern based on adjustable lens arranges adjustablely and be projected on video camera sensor.That is to say focusing setting based on adjustable lens of the outward appearance of pattern and/or position and changing.This makes a focalizer can determine according to predetermined calibration information the front focal length of working as of lens assembly, and this calibration information stores with the vision system relational processor of this focalizer of operation.Calibration assemblies can be positioned at the side along lens, so as through a reflecting surface from the pattern of orthogonal axes projected light that is approximately perpendicular to optical axis to optical axis.This reflecting surface can comprise a prism, reflective mirror and/or spectroscope, and it covers all or part of visual field of lens assembly with respect to the object on optical axis.This pattern can be positioned at along on orthogonal axes and the calibration target away from reflecting surface.
Illustratively, the transparent and opaque region that calibration target definable replaces, and can be illuminated (for example by LED illuminator, carrying out back lighting).Illustratively, this target is oriented, and with respect to the plane perpendicular to orthogonal axes, becomes an acute rake angle, for example, so that each pattern elements of target (parallel lines) is all associated with a predetermined focal length.For a given focal length, the right sharpness of a plurality of adjacent straight lines is assessed.The most clearly representative is worked as to front focal length.The one calibration assemblies lens that insert can be at light through differentiating light from calibration target before spectroscope, for example, to required focal range (20 centimetres to 2 meters (or infinitely great)) is provided at sensor place.Illustratively, target can be bright by the illumination of predetermined wavelength (visible or invisible), and focalizer distinguishes predetermined wavelength, so as calibration potentially can in the situation that not during the conventional operation of interfering object imaging carry out.
In another embodiment, calibration assemblies can comprise the projection " pattern " that is normally defined a spherical wave front.Lens assembly comprises at least one micro lens, and each in common a plurality of micro lens limits a part for a Wavefront sensor, and described Wavefront sensor is directed with projection pattern to a predetermined portions of video camera sensor.The outer rim of common this part proximity transducer, so that its minimally disturbs the visual field for image collection working time.
Described system and method can further comprise, the control program in focalizer, and it controls and/or adjusts the focusing setting of adjustable lens according to definite focal length and the required focal length of lens assembly.Described adjustable lens can be a liquid lens, or other camera lens of solid movably, and more particularly can comprise a film base liquid lens.
Accompanying drawing explanation
Below with reference to accompanying drawing, present invention is described, wherein:
Fig. 1 is for comprising that according to embodiment herein it is presented at the image that gathers an object in a scene for determining and control the perspective diagram of vision system video camera of the lens assembly of focal length;
Fig. 2 is according to the schematic diagram of a lens mechanism of an embodiment herein, comprise a film base liquid lens and between an object and a camera image sensor along the fixed imaging lens of an optical axis orientation;
Fig. 3 is the schematic diagram of directed lens mechanism between an object and an image sensor as shown in Figure 2, and comprises according to the calibration assemblies of the calibration target based on an inclination of an illustrative embodiment;
Fig. 3 A is the desirable schematic diagram representing of the optical system in Fig. 3, has shown the calculating of the focal length of liquid lens herein;
Fig. 3 B and 3C are the schematic diagram of the ray trajectory of the optical system in Fig. 3, the adjustable lens while having shown respectively minimum (being about zero) and maximum luminous power;
Fig. 4 is the schematic diagram of directed lens mechanism between an object and an image sensor as shown in Figure 2, and comprises the calibration assemblies based on a pointolite and Shack-Hartmann (wavefront) sensor according to an illustrative embodiment;
Fig. 4 A and 4B are depicted as the schematic diagram that calculates the focal length of adjustable lens according to the illustrative Hartmann embodiment in Fig. 4;
Fig. 5 is the schematic diagram of directed lens mechanism between an object and an image sensor as shown in Figure 2, according to an illustrative embodiment, and comprises the calibration assemblies redirecting of a part for the visual field based on integral type calibration target; And
Fig. 6 for according to the mechanism of Fig. 3-5 one of them comprise that an adjustable lens and a calibration assemblies are for determining and control the process flow diagram of an illustrative program of the focal length of camera modules.
Embodiment
Figure 1 shows that the vision system device 100 according to an illustrative embodiment.Described device 100 comprises a vision system, has the video camera 110 of a fuselage 112, and a lens assembly 114 is installed on described fuselage 112.Lens assembly 114 is a part for an optics suite, and described optics suite also comprises that in fuselage 112 a built-in image sensor 116(is represented by dotted lines).As shown in the figure, sensor and camera lens align along an optical axis OA, and sensor defines a vertical focal plane about axle OA.Axle OA approximately through the useful characteristic feature 120(on an object 122 as bar code).Feature 120 is in a visual field (dotted line frame 124), and described visual field can change size according to the task of vision system.The size of visual field depends in part on and reads/check distance D between object 122 and the focus of lens assembly 114.In this embodiment, lens assembly 114 comprises a pair of lens L1 and L2(, and the two is all represented by dotted lines and details are as follows), described lens focus to sensor 116 by light from imaging scene.Sensor transmits image data to the vision processor 140(catching and is represented by dotted lines equally), vision processor 140 according to program control vision system instrument and program to image data carry out vision system process (such as ID search, calibrate, inspection etc.), and export required image information 150, described image information 150 can be used for downstream program and applies as ID decoding and process.Processor 140 can be completely self-contained in camera body 112, part is installed in fuselage, or is installed on fuselage outside---as free-standing computing machine (as PC) or other remote computing device.Between the processor 140 of sensor module 116 and other downstream image data processing components, be provided with suitable wired and/or wireless communication line.Processor can also be controlled other typical functions, as inside or external illuminance (not shown), triggering etc.
Term as used herein " program (process) " and/or " processor " should, from broadly understanding, comprise various function and assemblies based on electronic hardware and/or software.In addition, described program or processor can or be divided into a plurality of subroutines or processor with other programs and/or processor combination.According to embodiment herein, can carry out various combination to this seed routine and/or sub-processor.Similarly, can clearly be susceptible to, any function, program and/or processor described herein can utilize the combination of electronic hardware, software or hardware and software to implement, and wherein this software is comprised of non-volatile computer readable medium of programmed instruction.
According to the schematic diagram of Fig. 2, further shown in detail the exposure region with respect to the lens L1 of object visual field 124 and the setting of L2 and sensor 116.As shown in the figure, each assembly aligns with optical axis OA, and sensor 116 is perpendicular to optical axis OA and form an imaging surface.In this illustrative setting, be provided with fixed imaging lens (for example convex lens) L1 at the rear portion that is generally conventional design, for the image on focus sensor 116 (light 210,212).Be provided with in addition adjustable (or " adjustable ") the lens L2 of anterior geometric configuration.In one embodiment, these lens can comprise above-mentioned film base fluid somascope head unit (being Optotune film base liquid lens).The focal length of optical system can for example, change in the predetermined scope that is arranged on (20 centimetres to 2 meters (or infinitely great)) based on adjustable lens L2.For example utilize and according to the electromagnetic type of technology known and/or on the market, to drive periphery at film to apply power (F) to change this setting.
Because the lens type that some is adjustable, routine film base liquid lens described above, As time goes on focal length can be lost calibration, and more generally, because need to keep good calibration, so be starved of, can fast automaticly determine and control focal length.In runtime environment, utilize external calibration target always unfeasible, and can be very time-consuming.Or the image of object is estimated focal length while relying on the operation gathering, this is not very reliable, and may reduce effect due to inadequate illumination under runtime environment and its dependent variable.Therefore,, according to embodiment herein, be provided with a built-in calibration assemblies.This assembly has the reliable and consistent calibration target (or other one or more benchmark) to sensor, to can constantly determine as required and upgrade focal length.
With reference to figure 3, shown the schematic diagram of an illustrative embodiment of lens assembly 300.Lens L1 and L2(are already described above, with reference to figure 2) remain unchanged, and along optical axis between sensor 116 and object 124.Along the axle CA perpendicular to optical axis OA, be provided with a calibration assemblies 310.Calibration assemblies axle CA and optical axis intersection are in 1: 312, the reflective mirror (i.e. a spectroscope) 314 that point 312 place's one 45 degree are placed approaches the front portion of adjustable camera lens L2, the light that described spectroscope 314 reflections come from calibration assemblies 310 makes it along optical axis OA to sensor 116, and also allows light to reach to sensor 116 along optical axis OA from object 124.Calibration assemblies 310 comprises the fixed lens L3 of convex lens (or other types), and L3 is for focusing on from illuminator 320(as a LED assembly that pre-determines wavelength) light.Described wavelength is alterable height, and can be in visible or sightless spectral range, close to infrared ray (infrared radiation).Come from the light of illuminator through a transparent calibration plate 330, described calibration plate 330 can limit transparent/translucent and opaque (for example black) parallel lines (or other pattern) alternately.Plane 332 inclination one sharp angle α that calibration plate 330 vertically passes about axle CA.The inclined angle alpha of target is alterable height, and the one end that conventionally limits inclined angle alpha is positioned at apart from lens L3 340 places, position farthest, and its relative one end is positioned at 342 places, nearest position.In one embodiment, selected angle α, so, in conjunction with lens L3, each is parallel, each opaque line representative from about 20 centimetres for example, to different, known focal lengths in the scopes of infinitely great ().In one embodiment, the distance D 1 of target 330 from lens L3 to highest distance position 340 can represent an infinitely-great focal length.As shown in the figure, a discontinuous position and the line associated with it can be made as the focal length of (for example) 1 meter.Processor (140) is carried out focalizer (in Fig. 1 160) makes this line and/or a certain line be positioned at pinpointed focus place.System can comprise the calibration data (in Fig. 1 170) of storage, and described calibration data comprises, for example, and the known focal length of every line in target 330.Described data can be set to, and for example, one consults form, described in consult form by line and predetermined focal length value and/or information matches.Based on this information, program utilizes known technology to determine the focus state of lens assembly.For example, according to the focusing of the focal length (1 meter) with typical required, calculate, by focalizer, 160 adjusting lens L2(are further as described below).
Because come from the light output of illuminator 320, can be set to the ambient light receiving from object apparently higher than lens assembly 300, when starting illuminator (during the calibration steps while betiding operation between image collection step), the projection pattern of target 330 can be distinguished by sensor 116.Alternatively, can use discontinuous wavelength and/or sightless wavelength (for example infrared radiation) to distinguish the light that comes from illuminator 320, sensor is adapted for based on this differentiation and is associated with calibration target 330.When run duration is stopped using illuminator, sensor only reads the ambient light that comes from object 124.Alternatively, the wavelength that reflective mirror 314 can be set to transmit a kind of light reflects other wavelength simultaneously.For example, reflective mirror can be adapted for and transmit ruddiness and reflect blue.Object is illuminated by ruddiness by suitable illuminator (not shown) and calibration target is illuminated by blue light.Inactive illuminator makes sensor only reflect red ambient light.In general, can be susceptible to and adopt multiple different light-emitting device and mirror construction to distinguish the light receiving from object and the light receiving from calibration target.
Based on calibration assemblies lens L3, calibration assemblies can be relatively little and be integrated in lens assembly.As shown in Figure 1, according to contemplated herein various embodiment, a typical calibration assemblies 180 is installed along a side of main lens lens barrel.Assembly 180 can comprise internal or external power/data circuit 182 according to different situations.It should be understood that the technology according to this area, with respect to lens, the form factor of calibration assemblies is alterable height.Ideally, in embodiment herein and/or other embodiment, calibration assemblies is as an essential part of whole lens assembly and be connected and/or remove.In one embodiment, lens adopt conventional installation setting, as C type microscope base.Fuselage 112 or other assembly can comprise the suitable port for power/data circuit 160 as ppu, so that calibration assemblies can removably be connected to fuselage.In an example, can adopt a connection based on USB carry out embodiment or the calibration assemblies supplying power in other embodiment hitherward or control calibration assemblies.
In an example, distance D 1 is about 25 millimeters, and angle α is about 7 degree (and being more generally about 5-10 degree).Optical path distance D2 from calibration assemblies lens L3 to intersection point 312 and the D3 from intersection point to adjustable lens L2 are about 6-12 millimeter.Similarly, the axial spacing D4 of lens L2 and L1 is about 5 millimeters, and the distance D 5 between sensor (116) imaging plane and imaging len L1 is about 20 millimeters.Lens L1 limits the focal length that is about 20 millimeters, and liquid lens L2 is limited to approximately 200 millimeters to the interior adjustable focal length of infinitely-great scope.Lens L3 limits the focal length that is about 25 millimeters.These distances and/or value are alterable heights in optional embodiment, and are interpreted as only for nonrestrictive example.
More generally, optical system can have following feature, and with further reference to the desirable expression of the optical system 300 as shown in Fig. 3 A:
For ease of representing, suppose that all lens L1A, L2A and L3A are very thin and when comparing with object 350 and calibrated distance, it is each other along common optical axis OAA(direction arrow s) relatively near.Similarly, the luminous power of lens L1, L2, L3 can be defined as respectively A1, A2 and A3.Distance b is along the distance perpendicular to the y axle (y arrow) of optical axis OAA between calibration target and optical axis OAA.In this example, L1 and L3 are that fixing glass lens and L2 one have the liquid lens of variable light power.Object is to measure the power of these lens.Point (s in calibration focus 356
2, y
2) (clear, in focus) image in the point (s on sensor 352
1, y
1) locate.
It is upper that calibration target is oriented in an angle straight line (dotted line) being defined by following formula:
Y
2=a*s
2+ b (formula 1)
Known:
1/s
1+ 1/s
2=A1+A2+A3 (formula 2)
And
Y
1/ s
1=y
2/ s
2(formula 3)
Therefore, (formula 3) being brought into (formula 1) obtains:
1/s2=y1/(b*s1)-a/b (formula 4)
And (formula 4) brought into the power that (formula 2) draws lens L2:
A2=A1+A3-1/s
1-y
1/（b*s
1）+a/b。
Note that calibration target on sensor 352 is by the position y of blur-free imaging
1and between the luminous power A2 of lens L2, there is a linear relationship.
Concise and to the point with reference to figure 3B and 3C, be depicted as the ray trajectory 370 at minimum power (be enlargement ratio A2 be set to zero (0) or close to zero (0)) and peak power place of the interior corresponding adjustable lens L2 of system 300.Zero (0) power is when (representing with flat lens (L2) surface 374), and the position 340 on calibration target 330 focuses on clear (in-focus) (Fig. 3 B) at 380 places, position of sensor 116.Peak power is when (being represented by convex lens (L2) surface 374), and the position 342 in target 330 focuses on clear (Fig. 3 C) at 382 places, position of sensor 116.The explanation that is expressed as various setting and/or position of Fig. 3 B and 3C, wherein the position along target focuses on sensor.
With reference now to Fig. 4,, according to a further embodiment, a lens assembly 400 as shown in the figure.Be noted that any and said modules 300(Fig. 3 in lens assembly 400) in same or analogous assembly and parameter be provided with identical reference number.As shown in the figure, calibration assemblies 410 is along axle CA1 alignment, and described axle CA1 intersects at a little 312 together with above-mentioned spectroscope 314 and optical axis OA.In this embodiment, operating point light source 420(light emitting diode for example optionally) projection one spherical wave front is to spectroscope 314.Pointolite 420 is positioned at known distance D6 place as shown in the figure, and can be configured to as described above the suitable structure on lens assembly.In general, pointolite is positioned at 1/(A1+A2) distance, A1 is that luminous power and the A2 of fixed lens L1 are the luminous power of adjustable (liquid) lens L2 herein.Light is through lens L2 and L1, and light 440 is through one or more orientable normal miniature lens 450 afterwards, so that focused ray 440 is to 460 of sensor 116---for example, near an edge of 460 visual fields at sensor, to the interference of main picture, be minimum herein.These micro lens 450 have defined basic Hartmann's (wavefront) sensor.When starting illuminator 420, by focalizer 160, monitored for 460 of the sensor 116 being exposed by micro lens.According to the point of the light focusing on, drop on the position of given 460 (i.e. pixels in sensor array), by utilizing the calibration data 170 of known calculating and storage, the displacement of this point (shift) can be used for determining the focal length of lens assembly.Can adjust adjustable lens L2, reach the focal length to the suitable some place in certain portions 460 that the point being produced by micro lens is placed on to sensor 116.
With reference to figure 4A and 4B, further illustrate, wherein according to the embodiment of Fig. 4, every width figure has shown the optical relation between assembly.Can suppose that lens L1 and L2 are very thin, and install each other very close to.The luminous power of fixed lens L1 and adjustable lens L2 is defined as respectively A1 and A2.ML1 and ML2 are that focal length is the micro lens of F.Imaging sensor IS is arranged in each focal plane of these lens.The axle OML of each micro lens ML1 and ML2 is parallel to the optical axis OAB of system, has an offset distance h between axle OML and OAB.Although the position of pointolite PS is alterable height, for the purpose of simple in this example, pointolite PS is positioned at following this object distance place, when adjustable lens L2 is set to zero luminous power (A2=0), come from pointolite PS(by spectroscope M) sphere light via adjustable lens L2 collimation, be (collimated into) plane wave front (Fig. 4 A).Micro lens ML1 and ML2 focus on this light to 2 B1 and B2 place as shown in the figure on sensor.When changing the luminous power A2 of lens L2, these B1, B2 move one apart from d(Fig. 4 B).It itself is exactly to be determined by the some B1 on sensor IS, the location of pixels of B2 by this apart from d(that the luminous power A2 of adjustable lens L2 can utilize following formula) calculate:
A2=d/(h*f+d*(s
1-f))
With reference to figure 5, shown in and described in be another embodiment of a lens assembly 500.Reiterate any and said modules 300(Fig. 3 in lens assembly 500) in same or analogous assembly and parameter be provided with identical reference number.In this embodiment, calibration assemblies 510 utilizes the sub-fraction of the visual field (conventionally along its edge) of lens assembly, and described part is covered by a miniature reflective mirror or prism 520.Described reflective mirror is axially between adjustable lens L2 and object 124.In this embodiment, reflective mirror/prism 520 is positioned at axial (for example, according to axle OA) distance D 7 places, for example, in this locates its lens barrel that is placed on lens assembly (as shown in Figure 1 assembly 180).Reflective mirror/prism 520 is about optical axis OA approximately 45 degree that tilt, so that its reflection is from the light that is positioned on reflective mirror/prism 520 a small-sized calibration target 530 at D8 place from a distance.As shown in the figure, the plane of target 530 is perpendicular to a dotted line 540, described dotted line 540 itself perpendicular to optical axis OA.Target 530 can be illuminated separately, or depends on ambient light.Target can be any acceptable form.In general, on sensor 116, the position of projection and the outward appearance of pattern will change according to the existing focal length being provided by adjustable lens L2.Focal length is determined in the projection that the calibration data (170) storing can be used for based on sensor.
According to the setting of the assembly shown in above Fig. 5, according to following formula, calculate the luminous power A2 of lens L2:
A2=A1-1/s
1-1/s
2, wherein
S1 is that lens are to the distance of sensor;
S2 is the distance between lens and calibration target; And
A1 is the luminous power of lens L1.
For this relation, set up, suppose that the distance between lens and lens is smaller to the distance of sensor with respect to object.
It should be understood that calibration target 530 can be set to the different a plurality of calibration targets in position.In addition, can clearly be susceptible to, the above-mentioned setting in Fig. 5 (wherein a part for visual field redirects to the image that comprises a calibration target) can be applicable to above about shown in Fig. 3 and 4 and in described collimation technique.That is to say, the measurement image projectable producing by these methods is to a part for the whole visual field of sensor.With respect to the residual vision that is exclusively used in the object while analyzing operation, measurement image in this part dividually (individually) to analyzing.
With reference to figure 6, be depicted as for determine and control according to above-mentioned each general step or the program 600 of focal length of the lens assembly of structure is set.This step or program can be when video camera initialization, or regularly carry out at run duration.At symbol, read in application, once successfully read bar code or other symbols on object, just can carry out immediately calibration procedure.Object through imaging scene place, conventionally can obtain the elevation information (after success is before read) of object subsequently, and therefore, the known altitude of object subsequently can be used for, and for reading this object, new focal length is set on transporter.The cycle of operation is alterable height, and if necessary, the quick character of calculating is suitable for quite frequent or continuous calibration.Particularly, alternatively, along with the end of the collection of 140 pairs of object images of vision processor in step 610, step/program 600 starts.In interchangeable embodiment, this step can be combined in the operation when operation, or occur simultaneously---for example, in the arranging of Fig. 5, a part for visual field (not being the image acquisition analysis while being used in operation) for analytic set target 530 or a wavelength dedicated for light is projected to sensor from calibration assemblies.No matter be working time or the operation of non-operating time, next step moves focalizer (160) program 600 in step 620.In the situation that integral type calibration assemblies comprises illumination, in step 630, start such a or a plurality of illuminators, sensor gathers the image of predetermined pattern from integral type calibration target simultaneously.By use the image of the pattern gathering in whole sensor or its part, program 600 is utilized the calibration information of storage and/or the front focal length of working as that data (170) are determined lens assembly in step 640.This determining step can comprise the use of a look-up table, and described look-up table maps to the specific image data for example, with calibration target pattern and/or projected position (, Fig. 4 wavefront setting) relevant on sensor by focal length.Information 170 also can comprise conventional equation or formula, and it can calculate particular focal length according to the image data that comes from the measurement of sensor.For example, in the arranging of Fig. 3, in the situation that focal length drops between two lines, can adopt the equation that inserts (interpolate) distance value between those lines to obtain higher accuracy.
In step 640, determined after front focal length, program 600 can determine that focal length is whether in a predetermined parameter or scope (determination step 650) according to the obtainable program control value of focalizer (160).If focal length in parameter area, value when program 600 is resumed operation so (if exiting), otherwise just enter the state of step 660 lieutenant colonel positive focal length.Then program is just waited for next program control calibration intervals repeating step 610-650.If focal length exceeds default scope, program is just by applying suitable power F(or passing through other mechanism so) control the adjustable lens (L2) in step 670, to adjust its geometric configuration, provide required focal length.Control the suitable setting that step 670 utilizes the suitable equation relevant to lens adjustment and information to calculate lens.For example, if focal length is read as 1 meter and 2 meters, be needed, focalizer order lens change power F according to the scheduled volume of reaching these 2 meters of settings so.If the assurance in replacement focal length is relatively high, so program 600 alternatively branch go to the step 660(program branches 672 by a dotted line of resuming operation).Alternatively, if need to confirm new setting, program 600 can be back to step 630-650(program branches 674 by a dotted line) and determine new focal length.This program can repeat (circulation), until deciding step 650 is determined, has reached required focal length.
It should be understood that for determine and control to have the system and method for focal length of lens assembly of adjustable (being generally liquid) lens relatively reliable, use hardly complicated assembly, and can move fast and repeatedly.This system and method and existing lens mechanism are relative better integrated, and in a vision system video camera, can be a part for a detachable and/or lens changeable system.
Described illustrative embodiment of the present invention above in detail.Can carry out various modifications and increase not departing from invention thought of the present invention and scope situation.For the relevant combination feature of multiple and new embodiment is provided, the feature of each embodiment in above-mentioned various embodiment can suitably combine with the feature of embodiment described in other.In addition,, although described the independent embodiment of some equipment of the present invention and method above, description is herein only the explanation to the application of the principles of the present invention.For example, calibration assemblies is alterable height about being oriented in optional embodiment of optical axis of lens assembly, and can make change based on for example consideration of packing aspect.Those of ordinary skill in the art should be understood that as reaching the use of the suitable optical module of this form factor.Similarly, although shown in and described be two basic lens assemblies, can in conjunction with the more complicated camera lens setting of one or more illustrative calibration assemblies use described herein.Similarly, the pattern on any calibration assemblies described herein is alterable height, because key is that such target pattern (or other measurement image) is projected onto the position on sensor.Therefore, this description only plays a part exemplary, and is not intended to limit the scope of the invention.
Claims (22)
1. for determining a system for the focal length of lens assembly, comprising:
Be positioned at along the adjustable lens of the optical axis of lens assembly its structure and be set to provide an adjustable focal length setting;
With the calibration assemblies that lens assembly becomes one, described calibration assemblies comprises that one is projected in the projection pattern of the light on video camera sensor adjustablely, and described video camera sensor arranges the light receiving from lens assembly according to the focusing of adjustable lens;
And
Focalizer, it arranges in focusing the focal length that the lower basis predetermined calibration information relevant with described pattern is determined lens assembly.
2. system according to claim 1, wherein said calibration assemblies is positioned at one and is approximately perpendicular on the axle of optical axis so that by pattern described in a reflecting surface projection to optical axis.
3. system according to claim 1, wherein reflecting surface is at least one prism or reflective mirror.
4. system according to claim 3, wherein reflecting surface covers a part for lens assembly visual field, and reflecting surface builds and is set to projection pattern to a part for video camera sensor.
5. system according to claim 4, wherein said pattern is positioned on a calibration target, and described calibration target is positioned at along being orthogonal on the axle of optical axis and away from reflecting surface.
6. system according to claim 3, wherein said reflecting surface is a spectroscope, its be positioned at adjustable lens above and allow light from an object along optical axis through this spectroscope.
7. system according to claim 6, wherein said pattern setting is on a calibration target, described calibration target is positioned at along being orthogonal on the axle of optical axis and away from reflecting surface, described calibration target limits a plurality of transparent and a plurality of opaque regions and is illuminated, described calibration target is orientated further, with respect to the plane perpendicular to orthogonal axes, becomes an acute rake angle.
8. system according to claim 7, further comprises the calibration assemblies lens between spectroscope and described target, and described a plurality of zones of opacity are associated with a plurality of focal lengths respectively.
9. system according to claim 8, wherein said zone of opacity comprises many parallel lines.
10. system according to claim 9, wherein said target is bright by the illumination of a predetermined wavelength, and focalizer builds and be set to distinguish this presetted wavelength.
11. systems according to claim 7, wherein said pattern restriction one has the light beam of spherical wave front, and further comprise at least one micro lens, it limits a part for a Wavefront sensor, and described Wavefront sensor is directed with projection pattern to a predetermined portions of video camera sensor.
12. systems according to claim 1, wherein focalizer builds and is set to control according to definite focal length and the required focal length of lens assembly the focusing setting of adjustable lens.
13. systems according to claim 1, wherein adjustable lens comprises a film base liquid lens.
14. 1 kinds of methods for the focal length of definite lens assembly that comprises pancratic lens, comprise step:
To adjustable lens, provide a focusing setting;
Utilize the pattern of calibration assemblies projection one light, the pattern of described light is projected on video camera sensor adjustablely, and described video camera sensor arranges the light receiving from lens assembly according to the focusing of adjustable lens; And
In focusing, the focal length that the lower basis predetermined calibration information relevant with pattern is determined lens assembly is set.
15. methods according to claim 14, further comprise and utilize calibration assemblies that described pattern is projected to optical axis by a reflecting surface from an axle that is approximately perpendicular to optical axis.
16. methods according to claim 15, wherein the step of projection comprises that projection pattern is to a part for video camera sensor.
17. methods according to claim 15, wherein the step of projection comprises and makes described pattern through a spectroscope, its be positioned at before adjustable lens and allow light from an object along optical axis through this spectroscope.
18. methods according to claim 17, wherein the step of projection comprises that (a) arranges a calibration target, it is positioned at along being orthogonal on the axle of optical axis and away from reflecting surface, (b) illuminate described calibration target with projection transparent and opaque region, and (c) about a plane perpendicular to orthogonal axes along the directed calibration target of an acute rake angle.
19. methods according to claim 18, are further included in and a calibration assemblies are set between spectroscope and described target and a plurality of zones of opacity are associated with a plurality of focal lengths respectively.
20. methods according to claim 18, the step that wherein illuminates calibration target comprises the light that transmits a predetermined wavelength, and wherein determining step comprises the described presetted wavelength that differentiation is received by sensor.
21. methods according to claim 16, wherein the step of projection comprises a pattern is set, its restriction has the light beam of spherical wave front, and the micro lens that defines a part for a Wavefront sensor by least one transmits described light beam, described micro lens is orientated described in projection pattern to a predetermined portions of video camera sensor.
22. methods according to claim 14, wherein further comprise the focusing setting of controlling adjustable lens according to definite focal length and the required focal length of lens assembly.
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| US13/563,499 US8576390B1 (en) | 2012-07-31 | 2012-07-31 | System and method for determining and controlling focal distance in a vision system camera |
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Also Published As
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| US20140218590A1 (en) | 2014-08-07 |
| DE102013106585A1 (en) | 2014-05-22 |
| US8576390B1 (en) | 2013-11-05 |
| CN103576280B (en) | 2016-04-06 |
| DE102013106585B4 (en) | 2021-04-29 |
| US9076199B2 (en) | 2015-07-07 |
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